JP6647788B2 - Welding system and welding method - Google Patents

Description

  The present invention relates to a welding system and a welding method.

  Radioactive waste generated in a nuclear reactor of a nuclear power plant or the like is stored in a radioactive substance storage container described in Patent Document 1, for example. Such a radioactive substance storage container has, for example, a body formed in a cylindrical shape. An opening is formed at one end in the axial direction of the body, and a lid is fixed with a screw or the like so as to close the opening.

  The surface of one end of such a trunk is covered with a welding layer of stainless steel or the like. Conventionally, this welding layer is formed by performing build-up welding on one end of the body. For example, in a state where the trunk is rotated in the circumferential direction, the welding torch is first made to face the radially outer peripheral portion of one end, and a bead is formed over one circumferential direction by the rotation of the trunk. Thereafter, the welding torch is moved to a radially inner peripheral side by a predetermined distance, and a new bead is formed so as to partially overlap the already formed outer bead. Thereafter, the welding torch is moved to the radially inner peripheral side by the set distance, and a new bead is similarly formed. In this way, a bead is formed by moving the welding torch at regular intervals from the radially outer side of the one end to the inner side while the body is rotated.

JP 2007-205931 A

  However, the shape of the bead changes for each bead due to the temperature of the base material, the outside air temperature, and the like. For this reason, in the method of moving the welding torch at regular pitches, when a new bead is overlapped with an already formed bead, the overlapping portion may be too large or insufficient. In such a case, it is necessary to temporarily stop the welding operation and correct the movement amount of the welding torch by the operator. Therefore, the work time is lengthened, and the burden on the worker is increased.

  The present invention has been made in view of the above, and an object of the present invention is to provide a welding system and a welding method capable of shortening an operation time and reducing a burden on an operator.

  The welding system according to the present invention forms a rotation support device that rotatably supports a cylindrical main body in a circumferential direction and a welded portion including a plurality of beads at an axial end of the main body. A welding torch to move the welding torch in the radial direction of the trunk body, a position measuring device capable of measuring a position on the end, and rotating the trunk body by the rotation support device. And let the position measuring device measure a first welding position to be welded on the end portion, and make the welding torch perform a first welding position over the entire circumference of the end portion in the circumferential direction at the first welding position. One bead is formed, and a position on the end where the radial end of the first bead is arranged is measured by the position measuring device as a second welding position. 2 At the welding position, one of the first beads And a control device to form a second bead over the circumferential direction of the circumference of said end portion to overlap the.

  According to the present invention, a new second bead is formed on top of the radial end of the already formed first bead. For this reason, even when the radial widths of the plurality of beads formed in the radial direction are different from each other, it is possible to suppress the overlapping area between the beads from being excessively or deficient, and to make the welded portion uniform in the entire radial direction. Can be formed. Therefore, it is possible to save the operator the trouble of correcting the moving amount of the welding torch and the like. Thereby, the working time can be shortened, and the burden on the worker can be reduced.

  In the above welding system, when performing the first welding to the end portion, the control device sets a radially outer peripheral portion of the end portion to the first welding position, and sets the first welding position to the end portion. When performing welding after welding one bead, the inner peripheral portion of the first bead is set to the second welding position.

  ADVANTAGE OF THE INVENTION According to this invention, a welding part can be formed automatically from the outer peripheral side of an end part to the inner peripheral side. Thereby, a weld part can be efficiently formed in an end part.

  In the above welding system, the control device causes the position measuring device to measure a position of an inner peripheral portion of the end as a welding end position, and based on the second welding position and the welding end position, a remaining welding distance. Is calculated, and the second bead is formed on the welding torch when the remaining welding distance is equal to or greater than a predetermined threshold.

  Advantageous Effects of Invention According to the present invention, a plurality of welds can be automatically formed at an end portion until a remaining welding distance approaches a predetermined threshold without bothering the operator.

  In the above welding system, the control device causes the welding torch to terminate welding when the remaining welding distance is less than a predetermined threshold.

  ADVANTAGE OF THE INVENTION According to this invention, it can suppress that a welding part protrudes from an end part and is formed.

  In the above welding system, a position reference portion measurable by the position measuring device is formed at a position spaced a predetermined distance in the radial direction from an inner peripheral portion or an outer peripheral portion of the end portion, and the control device is configured to control the position The measuring device measures the position of the position reference portion, and calculates the position of the inner peripheral portion or the outer peripheral portion based on the measurement result.

  ADVANTAGE OF THE INVENTION According to this invention, the position on an edge part can be measured more reliably. Thereby, a welding part can be formed with high precision.

  In the above welding system, the rotation support device supports the trunk main body such that the axial end face of the end portions is disposed so as to stand on a horizontal plane.

  ADVANTAGE OF THE INVENTION According to this invention, when an end surface is arrange | positioned with respect to the horizontal surface, it becomes possible to form a welding part efficiently.

  The welding method according to the present invention includes a step of rotating the torso body in the circumferential direction by a rotation support device that rotatably supports a torso body formed in a cylindrical shape in a circumferential direction, and an axial end of the torso body. The position measuring device measures a first welding position that is a welding target position of the portion, and a welding torch provided in the welding device and movable in a radial direction of the trunk body at the first welding position. A step of forming a first bead over one circumference of the circumferential direction, a step of measuring the position of an inner peripheral portion of the first bead as a second welding position by the position measuring device, and a step of forming the second torch by the welding torch. Forming a second bead over one circumference of the end portion so as to overlap a part of the first bead at a position.

  ADVANTAGE OF THE INVENTION According to this invention, a 1st bead and a 2nd bead can be formed automatically in an edge part, without bothering a worker's hand. Further, even when the radial widths of the plurality of weld portions formed in the radial direction are different from each other, the weld portions can be formed to have uniform dimensions over the entire radial direction. Therefore, it is possible to save the operator from having to correct the radial width of the welded portion. Thereby, the working time can be shortened, and the burden on the worker can be reduced.

  ADVANTAGE OF THE INVENTION According to the welding system and welding method which concern on this invention, it becomes possible to shorten work time and to reduce the burden of an operator.

FIG. 1 is a perspective view illustrating an example of a welding system according to the present embodiment. FIG. 2 is a longitudinal sectional view illustrating a radioactive substance storage container. FIG. 3 is a diagram illustrating an example of the opening-side end of the trunk main body. FIG. 4 is a flowchart illustrating an example of the welding method. FIG. 5 is a diagram illustrating an example of a measurement operation by the position measurement device. FIG. 6 is a diagram illustrating an example of a welding operation by the welding device. FIG. 7 is a diagram illustrating an example of a measurement operation by the position measurement device. FIG. 8 is a diagram illustrating an example of a welding operation by the welding device. FIG. 9 is a diagram illustrating an example of a measurement operation performed by the position measurement device. FIG. 10 is a diagram illustrating an example of a measurement operation performed by the position measurement device. FIG. 11 is a diagram illustrating an example of a welding operation by the welding device. FIG. 12 is a diagram illustrating another example of the opening-side end of the trunk main body. FIG. 13 is a diagram illustrating another example of the opening-side end of the trunk main body. FIG. 14 is a diagram showing another example of the opening-side end of the trunk main body. FIG. 15 is a diagram illustrating another example of the opening-side end of the trunk main body.

  Hereinafter, an embodiment of a welding system according to the present invention will be described with reference to the drawings. Note that the present invention is not limited by the embodiment. The components in the following embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same.

  FIG. 1 is a perspective view illustrating an example of a welding system 100 according to the present embodiment. As shown in FIG. 1, the welding system 100 includes a rotation support device 101, a position measuring device 102, a welding device 103, and a control device 104.

  The welding system 100 forms a weld on an annular end surface (41a, 42a, 43a) formed at one axial end of a cylindrical main body 21. Here, before explaining the configuration of each device of the welding system 100, the trunk main body 21 will be described. The body 21 constitutes a part of the cask 11 as a radioactive substance storage container. FIG. 2 is a longitudinal sectional view showing an example of the cask 11.

  As shown in FIG. 2, the cask 11 has a body 12, a cover 13, and a basket 14. The body 12 has the above-mentioned body 21, an outer cylinder 25, and a bottom plate 28. The trunk main body 21 is formed in a cylindrical shape, has an opening 22 at one end in the axial direction of the central axis AX, and has a bottom 23 at the other end. Hereinafter, the end of the trunk main body 21 where the opening 22 is formed is referred to as an opening end 21a, and the end where the bottom 23 is formed is referred to as a bottom end 21b. A cavity 24 is formed inside the body 21. The inner surface of the trunk main body 21 has a shape that matches the outer peripheral shape of the basket 14. The basket 14 has, for example, a plurality of cells for individually storing radioactive materials (not shown) as spent fuel assemblies. The body 21 including the bottom 23 is a forged product made of carbon steel having a γ-ray shielding function.

  The outer cylinder 25 is provided on the outer peripheral side of the body 21. The outer cylinder 25 is disposed with a predetermined gap between the outer cylinder 25 and the outer peripheral surface of the body 21. In a gap between the outer peripheral surface of the body 21 and the inner peripheral surface of the outer cylinder 25, a plurality of heat transfer fins (not shown) for conducting heat are welded at predetermined intervals in the circumferential direction. The gap is filled with a resin (neutron shield) 27. As the resin 27, for example, a polymer material containing a large amount of hydrogen is used. Such a polymer material may contain, for example, boron or a boron compound having a neutron shielding function.

  Further, the bottom plate 28 is connected to the bottom side end 21 b of the body 21. The bottom plate 28 is arranged with a predetermined gap between the bottom plate 28 and the bottom portion 23. A resin (neutron shield) 29 is provided in a gap between the bottom portion 23 and the bottom plate 28. A trunnion 30 is fixed to a side surface of the body 12.

  A first step portion 41, a second step portion 42, and a third step portion 43 are formed at the opening end 21 a of the trunk body 21. The first step portion 41 has an annular first end surface 41a perpendicular to the axial direction of the central axis AX. On the first end face 41a, a plurality of screw holes 41b are formed at equal intervals in the circumferential direction of the body 21. The second step portion 42 is formed outside the opening 22 with respect to the first step portion 41. The second step portion 42 has an annular second end surface 42a parallel to the first end surface 41a. A plurality of screw holes 42b are formed in the second end surface 42a at equal intervals in the circumferential direction of the body 21. The third step portion 43 has an annular third end surface 43a parallel to the first end surface 41a and the second end surface 42a. A plurality of screw holes 43b are formed in the third end face 43a at equal intervals in the circumferential direction of the body 21.

  The lid 13 has a primary lid 31, a secondary lid 32, and a tertiary lid 33. The primary lid 31 is detachably attached to the first step portion 41 of the body 21. The primary lid 31 is fitted to the first step portion 41 and is in close contact with the first end surface 41a. The primary lid 31 is fastened to the first step 41 by bolts 71. The primary lid 31 maintains the negative pressure on the cavity 24 side to prevent the gas filled in the cavity 24 from leaking. In addition, the primary lid 31 shields radiation (γ-rays) emitted from the radioactive substance stored in the cavity 24. A resin (a neutron shield) is provided outside the primary lid 31 (on the side of the secondary lid 32). A pressure monitoring boundary pressurized against the atmosphere is formed between the primary lid 31 and the secondary lid 32.

  The secondary lid 32 is detachably attached to the second step portion 42 of the body 21. The secondary lid 32 is fitted to the second step portion 42 and is in close contact with the second end surface 42a. The secondary lid 32 is fastened to the second step portion 42 by a bolt 72. The secondary lid 32 prevents gas from leaking from the primary lid 31. The secondary lid 32 secures the pressure on the cavity 24 side.

  The tertiary lid 33 is detachably attached to the third step 43 of the body 21. The tertiary lid 33 is fitted to the third step 43 and is in close contact with the third end face 43a. The tertiary lid 33 is fastened to the third step 43 by bolts 73. The tertiary lid 33 is fixed to the third step 43 in the opening 22 of the body 21. The tertiary lid 33 protects the secondary lid 32 from external impact.

  FIG. 3 is an enlarged cross-sectional view showing a main part of the trunk main body 21 on the opening side end 21a side. 3, only a part of the third step 43 is shown, and the configuration of the tertiary lid 33, the bolt 73 and the screw hole 43b, and the first step 41 and the second step 42 are omitted. In the following description, a part of the third step portion 43 will be described, and the description of the tertiary lid 33 and the like and the description of the first step portion 41 and the second step portion 42 will be omitted.

  As shown in FIG. 3, a welded portion 50 is formed on the surface of the third step portion 43. The welding portion 50 is formed across the end surface 21r, the inclined surface 21c, and the inner peripheral surface 21f of the opening-side end 21a of the trunk main body 21. The welded portion 50 is formed by overlay welding with a material such as stainless steel. Note that the first step 41 and the second step 42 are also formed with the welded portions 50 similarly to the third step 43, and the same description is possible.

  Subsequently, the configuration of each device of the protection member insertion system 100 will be described. As shown in FIG. 1, the rotation support device 101 supports the trunk main body 21 sideways so that the end surface 21 r of the opening side end 21 a stands in a state perpendicular to the floor surface 113, for example. I do. When the body 21 is rotated by the rotation support device 101, it is easier to rotate the body by arranging the body 21 so as to receive a load at one end in the axial direction (for example, the bottom end 21b). You may be able to do it. In this case, the end surface 21r is arranged to be inclined with respect to a state perpendicular to the floor surface 113. It is preferable that the inclination angle at this time is, for example, 1 ° or less.

  The rotation support device 101 is rotatable in the circumferential direction while supporting the body 21. As the rotation support device 101, for example, a turning roller or the like is used. FIG. 1 shows a state before the welded portion 50 is formed at the opening side end 21a. Therefore, the opening side end 21a shown in FIG. 1 is in a state where the end face 21p corresponding to the first end face 41a, the end face 21q corresponding to the second end face 42a, and the end face 21r corresponding to the third end face 43a are exposed. Has become.

  The rotation support device 101 has a support table 111 and a pair of support rollers 114 and 115. The support base 111 is installed on the floor surface 113 by a plurality of legs (not shown). The floor surface 113 is formed, for example, parallel to a horizontal plane. The pair of support rollers 114 and 115 are provided rotatably. The support rollers 114 and 115 are arranged at two places in the axial direction of the central axis AX so as to support the opening end 21a and the bottom end 21b of the body 21 respectively. A drive device (not shown) is connected to each of the support rollers 114 and 115. The driving device rotationally drives the support rollers 114 and 115 in one direction and the other direction in the circumferential direction.

  The position measuring device 102 measures the position on the opening-side end 21a of the trunk main body 21. As the position measuring device 102, for example, a CCD camera is used. The position measuring device 102 is attached to an arm 120 of a six-axis articulated robot (not shown), for example. Note that, instead of the CCD camera, the position measuring device 102 may be a sensor that measures the distance to the target, such as a laser sensor, an ultrasonic sensor, or an infrared sensor. In FIG. 1, the position measuring device 102 is movable in six axial directions around the opening-side end 21a. The position measurement device 102 captures an image of the opening-side end 21a. The position measurement device 102 transmits the captured image data to the control device 104.

  The welding device 103 has a welding torch 131. The welding torch 131 is attached to an arm 130 of, for example, a six-axis articulated robot (not shown). The welding torch 131 is arranged to face the opening side end 21a, and is movable in the radial direction of each surface. The welding torch 131 supplies a welding current and a shielding gas. At the tip of the welding torch 131, a nozzle 132 is provided. The welding torch 131 can supply the welding wire 133 to the nozzle 132 side.

  The control device 104 controls each of the rotation support device 101, the position measurement device 102, and the welding device 103 as a whole. The control device 104 controls the driving device of the rotation support device 101 to rotate the support rollers 114 and 115. Further, the control device 104 includes an image processing unit 141 and a position calculation unit 142. The image processing unit 141 performs image processing such as binarization processing on the image data transmitted from the position measurement device 102. The position calculator 142 calculates the position of the opening-side end 21a based on the image data processed by the image processor 141. The position calculation unit 142 calculates the position of the opening-side end 21 a as, for example, position coordinates in the radial direction of the trunk body 21. In addition, the position calculation unit 142 calculates the position of the uneven portion such as a bead formed on each end face as position coordinates in the radial direction. In this case, the position calculation unit 142 can use, for example, the central axis AX of the trunk main body 21 as a reference position for coordinates.

  When a sensor such as a laser sensor that measures a distance to an object is used as the position measuring device 102, the control device 104 moves the position measuring device 102 from the center axis AX of the trunk body 21 in the radial direction, for example. Let it do. In this case, there is a portion where the distance between the position measuring device 102 and the measurement target changes while the position measuring device 102 is moved in the radial direction. For example, when the end faces 21p, 21q, and 21r appear, or when irregularities such as beads appear on each end face, the distance from the position measurement device 102 changes. By detecting such a position at which the distance changes in correspondence with the radial position coordinates, the radial position coordinates of each end face and the radial position coordinates of the uneven portion such as the welded portion 50 can be obtained.

  Subsequently, a welding method for forming the welding portion 50 using the welding system 100 according to the present embodiment will be described. FIG. 4 is a flowchart illustrating an example of the welding method. Hereinafter, a case where the welded portion 50 is formed on the end surface 21r of the trunk main body 21 and the like to form the third step portion 43 will be described as an example. Note that the same applies to the case where the first step portion 41 is formed by forming the welded portion 50 on the end surface 21p and the like, and the case where the second step portion 42 is formed by forming the welded portion 50 on the end surface 21q and the like. An explanation is possible.

  First, the trunk body 21 is transported using a crane or the like (not shown), and is placed on the support rollers 114 and 115 of the rotary support device 101 in a state where the trunk body 21 is turned sideways. The trunk body 21 is mounted on the four support rollers 114 and 115 in a state where the opening side end 21a is directed in the direction along the floor surface 113, so that the trunk body 21 can be rotated by the rotation support device 101. Supported by Thereafter, the control device 104 controls the driving of the rotation support device 101 to rotate the trunk main body 21 (step S11).

  After the rotation of the trunk main body 21, the control device 104 causes the position measuring device 102 to measure the position of the inner peripheral portion 21e of the end face 21r as the welding end position PE (Step S12). FIG. 5 is a diagram illustrating an example of a measurement operation by the position measurement device 102. In step S12, the control device 104 causes the position measurement device 102 to photograph an area including the inner peripheral portion 21e, and processes the obtained image data in the image processing unit 141. Thereafter, the position calculation unit 142 calculates the position of the inner peripheral portion 21e (weld end position PE) based on the processed image data. The position of the inner peripheral portion 21e which is the welding end position PE is used in a later step.

  Next, the control device 104 causes the position measuring device 102 to measure the first welding position P1, which is the position to be welded, of the end face 21r (step S13). In step S13, as shown in FIG. 5, the control device 104 causes the position measuring device 102 to measure the position of the outer peripheral portion 21d of the end face 21r as the first welding position P1. Although FIG. 5 shows a state in which the position measurement device 102 moves up and down according to the measurement target position, the invention is not limited to this. If the welding end position PE and the first welding position P1 can be respectively measured, the position measuring device 102 does not have to be moved.

  Next, the control device 104 moves the welding torch 131 to the first welding position P1, and causes the welding torch 131 to perform welding at the first welding position P1 (step S14). FIG. 6 is a diagram illustrating an example of a welding operation performed by the welding device 103. In step S14, the control device 104 causes the nozzle 132 of the welding torch 131 to face the first welding position P1 and perform welding while supplying the welding wire 133, as shown in FIG. Since the trunk body 21 is rotating in the circumferential direction, a bead (first bead) 51 is formed over one circumference of the end face 21r in the circumferential direction.

  Next, the control device 104 causes the position measuring device 102 to measure the position of the inner peripheral portion 51a of the bead 51 (Step S15). FIG. 7 is a diagram illustrating an example of a measurement operation by the position measurement device 102. In step S15, as shown in FIG. 7, the control device 104 causes the position measuring device 102 to measure the position of the inner peripheral portion 51a of the bead 51 as a second welding position P2 which is the next welding target position.

  Next, the control device 104 moves the welding torch 131 to the second welding position P2, and causes the welding torch 131 to perform welding at the second welding position P2 (step S16). FIG. 8 is a diagram showing an example of a welding operation by the welding device 103. In step S16, the control device 104 causes the nozzle 132 of the welding torch 131 to face the second welding position P2 as shown in FIG. The bead (second bead) 52 is welded. Since the trunk body 21 is rotating in the circumferential direction, the bead 52 is formed over the entire circumference of the end face 21r in the circumferential direction.

  Next, the control device 104 causes the position measuring device 102 to measure the position of the inner peripheral portion 52a of the bead 52 (Step S17). FIG. 9 is a diagram illustrating an example of a measurement operation by the position measurement device 102. In step S17, the control device 104 causes the position measuring device 102 to measure the position of the inner peripheral portion 52a of the bead 52 as the third position P3, which is the next welding target position, as shown in FIG.

  Next, control device 104 determines whether or not the remaining welding distance is equal to or greater than a threshold value (step S18). In step S18, as shown in FIG. 9, the control device 104 calculates the distance between the third position P3 measured in step S17 and the welding end position PE measured in step S12 as the remaining welding distance t. Note that the threshold value can be stored in advance in a storage unit (not shown) of the control device 104 or the like. This threshold can be set, for example, to a value equal to or less than the average diameter of the bead (for example, about 5 mm).

  If the result of the determination is that the remaining welding distance is equal to or greater than the threshold value (Yes in step S18), the control device 104 repeatedly performs the steps from step S16. In this case, the control device 104 moves the welding torch 131 to the measurement position (third position P3), and forms a new bead at the third position P3 over the entire circumference of the end face 21r in the circumferential direction. Thereafter, the position of the inner peripheral portion of the newly formed bead is measured, and it is determined whether the remaining welding distance is equal to or greater than a threshold.

  If the result of the determination is that the remaining welding distance is smaller than the threshold value (No in step S18), the control device 104 ends the welding of the end face 21r. After the welding of the end face 21r is completed, the control device 104 causes the inclined face 21c and the inner peripheral face 21f to form beads by performing the same operation.

  FIG. 10 is a diagram illustrating an example of a measurement operation by the position measurement device 102. In FIG. 10, after the bead 52 is formed, a plurality of new beads 53 are formed in an overlapping manner, and the inner peripheral portion 53 a of the bead 53 is closer to the inner peripheral portion 21 e of the end surface 21 r. However, the inner peripheral portion 53a of the bead 53 has not reached the inner peripheral portion 21e of the end surface 21r. In this state, when it is determined that the remaining welding distance t is less than the threshold value, the welding is terminated, so that the remaining area of the end face 21r is an unwelded area where no bead is formed.

  FIG. 11 is a diagram illustrating an example of a welding operation by the welding device 103. When the unwelded area is formed on the end face 21r as described above, as shown in FIG. 11, the control device 104 performs the welding on the inclined face 21c after welding the end face 21r. Welding can be performed with a position including the welding area as a welding target position. Further, the operator may set such that a bead is formed in the unwelded area. Thereby, the formation of the unwelded region can be suppressed, and the welded portion 50 is uniformly formed on the entire opening side end 21a.

  As described above, according to the present embodiment, a new second bead 52 is formed to overlap with the radially inner peripheral portion 51a of the already formed first bead 51 as a reference position. For this reason, even when the radial widths of the plurality of beads formed in the radial direction are different from each other, it is possible to suppress the overlapping area between the beads from being excessively or deficient, and to make the welded portion uniform in the entire radial direction. 50 can be formed. Therefore, it is possible to save the operator from correcting the movement amount of the welding torch 131 and the like. Thereby, the working time can be shortened, and the burden on the worker can be reduced.

  Note that the technical scope of the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the spirit of the present invention. For example, in the above embodiment, when the position measuring device 102 measures the welding end position PE, an example in which the inner peripheral portion 21e of the end face 21r is photographed and measured is described, but the present invention is not limited to this. For example, a position reference portion that can be measured by the position measurement device 102 may be provided at a position on the end surface 21r that is separated from the inner peripheral portion 21e by a predetermined distance on the radially outer peripheral side.

  FIG. 12 is a diagram illustrating another example of the opening-side end 21a of the trunk main body 21. As shown in FIG. 12, a configuration may be employed in which a spot welded portion 61 is formed as a position reference portion at a position separated from the inner peripheral portion 21e toward the outer peripheral side by a predetermined distance d. The spot welds 61 can be formed using the base material of the body 21 or the material of the welds 50. When the spot weld 61 is formed, the control device 104 calculates the radial position of the inner peripheral portion 21e based on the position of the spot weld 61 measured by the position measuring device 102 and the predetermined distance d. It is possible.

  FIG. 13 is a diagram illustrating another example of the opening-side end 21a of the trunk main body 21. As shown in FIG. 13, a configuration may be adopted in which a marking portion 62 is formed as a position reference portion at a position separated from the inner peripheral portion 21 e toward the outer peripheral side by a predetermined distance d. When the marking portion 62 is formed, the control device 104 can calculate the radial position of the inner peripheral portion 21e based on the position of the marking portion 62 measured by the position measuring device 102 and the predetermined distance d. It is possible. When a CCD camera is used as the position measuring device 102, photographed data of the marking section 62 is displayed as a black line when the image processing section 141 performs binarization processing. For this reason, it becomes easy to distinguish between the surrounding images.

  FIG. 14 is a diagram showing another example of the opening-side end 21a of the trunk main body 21. As shown in FIG. 14, a groove 63 may be formed as a position reference portion at a position separated from the inner peripheral portion 21e toward the outer peripheral side by a predetermined distance d. The groove 63 is formed by processing the end face 21r in advance. When the groove 63 is formed, the control device 104 can calculate the radial position of the inner peripheral portion 21e based on the position of the groove 63 measured by the position measuring device 102 and the predetermined distance d. is there. When a CCD camera is used as the position measuring device 102, the photographed data of the groove 63 is displayed as a black line when binarized by the image processing unit 141, as in the case of the marking unit 62. Is done. For this reason, it becomes easy to distinguish between the surrounding images.

  FIG. 15 is a diagram illustrating another example of the opening-side end 21a of the trunk main body 21. As shown in FIG. 15, a configuration may be employed in which a protrusion 64 is formed as a position reference portion at a position separated from the inner peripheral portion 21e toward the outer peripheral side by a predetermined distance d. The protrusion 64 can be formed by processing when forming the end face 21r of the trunk main body 21. When the protrusion 64 is formed, the control device 104 can calculate the radial position of the inner peripheral portion 21e based on the position of the protrusion 64 measured by the position measuring device 102 and the predetermined distance d. It is possible.

  Further, in the above embodiment, when photographing a corner such as the outer peripheral portion 21d and the inner peripheral portion 21e of the end face 21r, the photographing is performed in a state where light is projected onto a region other than the corner by a light source unit (not shown). Alternatively, halation may be caused in an area other than the corners of the image data. This makes the corners stand out in the image data, so that the corners can be easily identified.

DESCRIPTION OF SYMBOLS 11 Cask 12 Body part 13 Cover part 14 Basket 21 Body 21a Open end 21b Bottom end 21c Inclined surface 21d Outer peripheral part 21e Inner peripheral part 21f Inner peripheral surface 21p, 21q, 21r End surface 22 Opening 23 Bottom 24 Cavity 25 outer cylinder 27 resin 28 bottom plate 30 trunnion 31 primary lid 32 secondary lid 33 tertiary lid 41 first step 42 second step 43 third step 41a, 42a, 43a end faces 41b, 42b, 43b screw hole 50 welding part 51, 52, 53 Beads 71, 72, 73 Bolts 51a, 52a, 53a Inner peripheral portion 61 Spot welded portion 62 Marking portion 63 Groove portion 64 Projection 100 Protective member insertion system 100 Welding system 101 Rotary support device 102 Position measuring device 103 Welding Device 104 Control device 111 Support table 113 Floor surface 114, 115 Support roller 1 0,130 arm 131 welding torch 132 nozzle 133 welding wire 141 image processing unit 142 the position calculation unit AX central axis d predetermined distance P1, P2, P3 position PE welding end position t welding distance

Claims (7)

A rotation support device that supports a cylindrical main body rotatably in a circumferential direction,
A welding device that has a welding torch that forms a weld including a plurality of beads at an axial end of the trunk body, and that can move the welding torch in a radial direction of the trunk body;
A position measuring device capable of measuring a position on the end portion,
The body is rotated by the rotation support device, a first welding position to be welded on the end portion is measured by the position measuring device, and the welding torch is configured to measure the end at the first welding position. A first bead is formed over one circumference of the portion, and a position on the end where the radial end of the first bead is arranged is measured as a second welding position by the position measuring device. And a control device for forming a second bead over the circumference of the end portion so as to overlap a part of the first bead at the second welding position on the welding torch,
With
The control device causes the position measuring device to measure a position of an inner peripheral portion of the end as a welding end position, calculates a remaining welding distance based on the second welding position and the welding end position, and calculates the remaining welding distance. A welding system for forming the second bead on the welding torch when a welding distance is equal to or greater than a predetermined threshold. A rotation support device that supports a cylindrical main body rotatably in a circumferential direction,
A welding device that has a welding torch that forms a weld including a plurality of beads at an axial end of the trunk body, and that can move the welding torch in a radial direction of the trunk body;
A position measuring device capable of measuring a position on the end portion,
The body is rotated by the rotation support device, a first welding position to be welded on the end portion is measured by the position measuring device, and the welding torch is used for the end at the first welding position. A first bead is formed over one circumference of the portion, and a position on the end where the radial end of the first bead is arranged is measured as a second welding position by the position measuring device. A control device for forming a second bead over the entire circumference of the end portion so that the welding torch is overlapped with a part of the first bead at the second welding position,
With
The welding system, wherein the rotation support device supports the trunk main body such that the axial end surface of the end portions is disposed so as to stand on a horizontal plane. The control device, when performing the first welding to the end portion, the outer peripheral portion in the radial direction of the end portion as the first welding position,
The welding system according to claim 1, wherein when welding is performed after the first bead is welded to the end portion, an inner peripheral portion of the first bead is set to the second welding position. The welding system according to claim 1, wherein the control device causes the welding torch to terminate welding when the remaining welding distance is less than a predetermined threshold. At a position spaced a predetermined distance in the radial direction from the inner or outer peripheral portion of the end portion, a position reference portion that can be measured by the position measuring device is formed.
The control device causes the position measurement device to measure the position of the position reference portion, and calculates the position of the inner peripheral portion or the outer peripheral portion based on the measurement result. The welding system according to claim 1. A step of rotating the torso body in the circumferential direction by a rotation supporting device that supports the torso body formed in a cylindrical shape so as to be rotatable in the circumferential direction,
A step in which the position measurement device measures a first welding position that is a welding target position among the axial ends of the trunk main body;
A step in which a welding torch provided in a welding device and movable in a radial direction of the trunk main body forms a first bead over the entire circumference of the end portion at the first welding position;
A step in which the position measuring device measures a position of an inner peripheral portion of the first bead as a second welding position;
Forming a second bead over one circumference of the end so that the welding torch overlaps a part of the first bead at the second welding position;
Including
When the position of the inner peripheral portion of the end is measured as a welding end position, a remaining welding distance is calculated based on the second welding position and the welding end position, and the remaining welding distance is equal to or greater than a predetermined threshold. Further comprising the step of forming the second bead on the welding torch,
Welding method. A step of rotating the torso body in the circumferential direction by a rotation supporting device that supports the torso body formed in a cylindrical shape so as to be rotatable in the circumferential direction,
A step in which the position measurement device measures a first welding position that is a welding target position among the axial ends of the trunk main body;
A step in which a welding torch provided in a welding device and movable in a radial direction of the trunk main body forms a first bead over the entire circumference of the end portion at the first welding position;
A step in which the position measuring device measures a position of an inner peripheral portion of the first bead as a second welding position;
Forming a second bead over one circumference of the end so that the welding torch overlaps a part of the first bead at the second welding position;
Including
The welding method, wherein the rotation support device supports the trunk main body such that the axial end surface of the end portions is disposed so as to stand on a horizontal plane.

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